摘要
【目的】为了实现农用车辆的自动导航.【方法】以LabVIEW图像采集以及模糊控制为主进行智能农业车辆控制系统的设计.首先在NI vision assistant环境下利用灰度化、像素分布、边缘检测、路径拟合等算法进行图像处理以及提取导航路径信息.之后利用Labview环境下的PID and Fuzzy Logic Toolkit工具箱确定隶属度函数并设计出模糊控制规则,再通过去模糊化后对农用车辆转向采取合理的控制策略,使得农用车辆平稳快速地行使.最后利用MATLAB环境下Simulink建立数学仿真模型,观察转向角信号对偏差角信号的跟踪情况.【结果】仿真表明,在周期10s下,幅度为10°的正弦波信号,对转向信号有着较好的跟踪能力,还可看出有较小的相位偏差,需要通过对控制器后续的控制策略优化来进行消除.
【Objective】In order to realize the automatic navigation of agricultural vehicles.【Method】According to the LabVIEW image acquisition and fuzzy control system,the study carried on the design of intelligent agricultural vehicles.Firstly,in the environment of NI vision assistant,it implement image collection and extracting avaliable path information,which is needed by the gray scale,the pixel distribution,edge detection,path fitting and so on.Then design of LabVIEW PID and Fuzzy Logic Toolkit to determine the membership function and design the fuzzy control rules,after defuzzification,take reasonable control strategy for the agricultural vehicles,making the agricultural vehicles to exercise smoothly and quickly.Finally,based on the modeling and simulation of MATLAB-Simulink,tracking the conditions from the angle signal to the deviation angle signal.【Result】The amplitude of the sine wave signal is 10°in the period 10 s.The steering signal has good tracking ability in this situation,and there is a tiny phase deviation,which need to be eliminated by the control strategy optimization of the controller.
出处
《甘肃农业大学学报》
CAS
CSCD
北大核心
2016年第5期120-125,共6页
Journal of Gansu Agricultural University
基金
兵团科技创新团队建设(2011CC003)
石河子大学杰出青年项目(2014ZRKXJQ04)
